/*
 * IMUTASK.h
 *
 *  Created on: 2025/2/15
 *      Author: doititit
 */

#ifndef IMUTASK_H_
#define IMUTASK_H_
#include "zf_common_headfile.h"
#include "BNO080.h"

#define SENSER_BNO080 1

#define SENSER_TYPE SENSER_BNO080


typedef struct
{
    float x;
    float y;
    float z;
} IMUData_Gyro_TypeDef;

typedef struct
{
    float x;
    float y;
    float z;
} IMUData_ACC_TypeDef;

typedef struct
{
    float pitch;
    float roll;
    float yaw;
} IMUData_Euler_TypeDef;

typedef struct
{
    IMUData_Euler_TypeDef euler;
    IMUData_Gyro_TypeDef gyro;
    IMUData_ACC_TypeDef acc;
    float SenserTemp;
} IMUData_TypeDef;

void IMUTASK(void);
void IMUTASK_Handle(void);
void IMUTASK_Init(void);

extern IMUData_TypeDef IMUData;

#endif
